version: 66.07
glider: 543
mission: 9
dive: 359
start: 2 2 114 7 5 36
data:
$ID,543
$MISSION,9
$DIVE,359
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13658.393
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.073162
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,020214,065533,-4300.738,831.769,41,1.4,44,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-70.9
$GPS2,020214,070512,-4300.779,831.973,21,0.8,21,-25.1
$SPEED_LIMITS,0.150,0.228
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,323.5,3037,-27.0,-8.684
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.54,-51.0,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,51,3395,2528,0,0,0,0,0,0
$GC,62,-0.57,-90.4,3.1,-4.2,5,88,6.30,2.25,-8.98,0.000,4,0.238,0.043,1534,1958,2845,0,0,0,0,0,0
$GC,103,-0.57,-90.4,9.2,-13.7,10,112,0.00,2.33,0.00,0.000,6,0.000,0.049,1525,3369,2847,0,0,0,0,0,0
$GC,164,-0.57,-90.4,19.3,-17.6,19,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3369,2847,0,0,0,0,0,0
$GC,220,-0.57,-90.4,29.8,-18.3,28,229,0.00,0.93,0.00,0.000,4,0.000,0.057,1520,3947,2848,0,0,0,0,0,0
$GC,268,-0.57,-90.4,37.9,-18.2,35,275,0.00,0.85,0.00,0.000,6,0.000,0.034,1520,3384,2848,0,0,0,0,0,0
$GC,413,-0.57,-90.4,61.8,-15.7,60,422,0.00,2.17,0.00,0.000,4,0.000,0.028,1520,1956,2848,0,0,0,0,0,0
$GC,444,-0.57,-90.4,65.4,-13.5,64,451,0.00,2.30,0.00,0.000,6,0.000,0.048,1509,3385,2849,0,0,0,0,0,0
$GC,792,-0.57,-90.4,117.2,-14.5,115,793,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3385,2850,0,0,0,0,0,0
$GC,1113,-0.57,-90.4,165.1,-15.0,145,1117,0.00,0.90,0.00,0.000,4,0.000,0.057,1505,3948,2851,0,0,0,0,0,0
$GC,1197,-0.57,-90.4,179.4,-16.4,152,1206,0.08,0.85,0.00,0.000,6,0.163,0.032,1528,3373,2852,0,0,0,0,0,0
$GC,1521,-0.57,-90.4,222.8,-13.2,183,1525,0.00,2.12,0.00,0.000,4,0.000,0.027,1528,1955,2852,0,0,0,0,0,0
$GC,1552,-0.57,-90.4,226.2,-12.9,185,1556,0.00,2.28,0.00,0.000,6,0.000,0.049,1519,3383,2852,0,0,0,0,0,0
$GC,1882,-0.57,-90.4,271.4,-13.8,216,1886,0.00,0.90,0.00,0.000,4,0.000,0.057,1514,3952,2853,0,0,0,0,0,0
$GC,2019,-0.57,-90.4,291.7,-14.8,228,2022,0.00,0.85,0.00,0.000,6,0.000,0.032,1514,3376,2852,0,0,0,0,0,0
$GC,2349,-0.57,-90.4,336.6,-13.5,259,2353,0.00,2.10,0.00,0.000,4,0.000,0.027,1514,1966,2852,0,0,0,0,0,0
$GC,2380,-0.57,-90.4,340.1,-12.4,261,2384,0.12,2.28,0.00,0.000,6,0.158,0.050,1536,3389,2852,0,0,0,0,0,0
$GC,2710,-0.57,-90.4,375.8,-10.6,292,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3389,2852,0,0,0,0,0,0
$GC,3037,-0.57,-90.4,409.1,-9.9,319,3041,0.00,2.12,0.00,0.000,4,0.000,0.028,1536,1966,2852,0,0,0,0,0,0
$GC,3070,-0.57,-93.5,412.4,-8.3,320,3077,0.00,2.30,0.00,0.000,6,0.000,0.050,1527,3374,2852,0,0,0,0,0,0
$GC,3386,-0.57,-93.5,446.4,-11.2,336,3390,0.00,0.90,0.00,0.000,4,0.000,0.057,1523,3940,2852,0,0,0,0,0,0
$GC,3409,-0.57,-93.5,449.0,-11.4,337,3414,0.00,0.82,0.00,0.000,6,0.000,0.034,1523,3385,2852,0,0,0,0,0,0
$GC,3742,-0.57,-93.5,487.6,-11.4,353,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3385,2852,0,0,0,0,0,0
$GC,4051,-0.57,-93.5,523.3,-11.4,368,4055,0.00,0.90,0.00,0.000,4,0.000,0.058,1519,3947,2851,0,0,0,0,0,0
$GC,4084,-0.57,-93.5,527.5,-12.8,369,4088,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3377,2851,0,0,0,0,0,0
$GC,4405,-0.57,-93.5,566.1,-11.9,385,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3376,2850,0,0,0,0,0,0
$GC,4715,-0.57,-93.5,602.4,-11.4,400,4718,0.00,0.93,0.00,0.000,4,0.000,0.059,1514,3953,2849,0,0,0,0,0,0
$GC,4787,-0.57,-93.5,611.7,-12.1,403,4791,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3385,2849,0,0,0,0,0,0
$GC,5114,-0.57,-93.5,651.7,-12.5,419,5118,0.00,2.15,0.00,0.000,4,0.000,0.028,1514,1951,2848,0,0,0,0,0,0
$GC,5134,-0.57,-93.5,654.3,-11.8,420,5140,0.08,2.35,0.00,0.000,6,0.135,0.051,1528,3386,2849,0,0,0,0,0,0
$GC,5464,-0.57,-93.5,689.7,-11.0,436,5468,0.00,0.90,0.00,0.000,4,0.000,0.060,1525,3950,2848,0,0,0,0,0,0
$GC,5592,-0.57,-93.5,705.8,-12.5,441,5600,0.00,0.88,0.00,0.000,6,0.000,0.034,1525,3374,2848,0,0,0,0,0,0
$GC,5909,-0.57,-93.5,740.4,-10.7,457,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3375,2847,0,0,0,0,0,0
$GC,6218,-0.57,-93.5,774.8,-11.4,472,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3375,2846,0,0,0,0,0,0
$GC,6527,-0.57,-93.5,810.2,-11.5,487,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3374,2847,0,0,0,0,0,0
$GC,6837,-0.57,-93.5,845.7,-11.2,502,6841,0.00,2.12,0.00,0.000,4,0.000,0.029,1525,1966,2846,0,0,0,0,0,0
$GC,6857,-0.57,-93.5,848.1,-11.5,503,6862,0.00,2.33,0.00,0.000,6,0.000,0.053,1515,3385,2846,0,0,0,0,0,0
$GC,7187,-0.57,-93.5,887.8,-12.6,519,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3385,2845,0,0,0,0,0,0
$GC,7495,-0.57,-93.5,925.3,-12.3,534,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3385,2844,0,0,0,0,0,0
$GC,7804,-0.57,-93.5,961.4,-11.3,549,7807,0.00,0.90,0.00,0.000,4,0.000,0.060,1510,3947,2844,0,0,0,0,0,0
$GC,7917,-0.57,-93.5,975.6,-12.7,554,7921,0.00,0.85,0.00,0.000,6,0.000,0.036,1510,3384,2844,0,0,0,0,0,0
$STATE,8041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8041,begin apogee
$GC,8047,-0.09,0.0,990.7,11.8,560,8144,0.60,0.00,90.30,1.856,6,0.152,0.000,1683,3284,2474,0,0,0,0,0,0
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8147,0.57,93.5,993.8,0.0,565,8256,0.62,2.50,99.57,1.803,4,0.068,0.029,1912,1864,2091,0,0,0,0,0,0
$GC,8280,0.57,93.5,985.3,11.4,571,8285,0.00,2.50,0.00,0.000,6,0.000,0.049,1912,3283,2088,0,0,0,0,0,0
$GC,8609,0.57,93.5,936.0,15.3,587,8612,0.00,1.10,0.00,0.000,4,0.000,0.057,1912,3952,2080,0,0,0,0,0,0
$GC,8700,0.57,93.5,920.6,17.6,591,8704,0.00,1.05,0.00,0.000,6,0.000,0.034,1917,3271,2080,0,0,0,0,0,0
$GC,9032,0.57,93.5,870.0,14.5,607,9036,0.00,2.15,0.00,0.000,4,0.000,0.030,1929,1866,2077,0,0,0,0,0,0
$GC,9073,0.57,93.5,864.4,13.5,609,9077,0.00,2.30,0.00,0.000,6,0.000,0.050,1929,3289,2075,0,0,0,0,0,0
$GC,9399,0.57,93.5,815.4,14.7,625,9403,0.00,2.15,0.00,0.000,4,0.000,0.031,1939,1869,2075,0,0,0,0,0,0
$GC,9425,0.57,93.5,811.5,14.0,626,9430,0.12,2.30,0.00,0.000,6,0.188,0.050,1909,3293,2074,0,0,0,0,0,0
$GC,9747,0.57,93.5,767.4,13.9,642,9751,0.00,2.17,0.00,0.000,4,0.000,0.030,1919,1861,2074,0,0,0,0,0,0
$GC,9801,0.57,93.5,760.4,12.0,644,9809,0.00,2.33,0.00,0.000,6,0.000,0.048,1919,3289,2073,0,0,0,0,0,0
$GC,10117,0.57,93.5,717.4,13.6,660,10121,0.00,2.17,0.00,0.000,4,0.000,0.030,1930,1858,2073,0,0,0,0,0,0
$GC,10135,0.57,93.5,715.2,13.6,661,10139,0.00,2.30,0.00,0.000,6,0.000,0.050,1930,3294,2072,0,0,0,0,0,0
$GC,10468,0.57,93.5,669.6,13.5,677,10471,0.00,1.05,0.00,0.000,4,0.000,0.058,1930,3948,2072,0,0,0,0,0,0
$GC,10562,0.57,93.5,654.9,15.4,681,10567,0.10,1.00,0.00,0.000,6,0.197,0.034,1908,3283,2071,0,0,0,0,0,0
$GC,10889,0.57,93.5,614.9,11.9,697,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3283,2071,0,0,0,0,0,0
$GC,11198,0.57,93.5,575.5,12.9,712,11202,0.00,1.08,0.00,0.000,4,0.000,0.058,1908,3947,2071,0,0,0,0,0,0
$GC,11344,0.57,93.5,554.6,14.1,718,11348,0.00,1.00,0.00,0.000,6,0.000,0.035,1912,3290,2071,0,0,0,0,0,0
$GC,11665,0.57,93.5,513.7,12.4,734,11669,0.00,1.08,0.00,0.000,4,0.000,0.057,1912,3955,2071,0,0,0,0,0,0
$GC,11704,0.57,93.5,508.3,13.6,735,11711,0.00,1.02,0.00,0.000,6,0.000,0.035,1917,3276,2071,0,0,0,0,0,0
$GC,12021,0.57,93.5,468.7,12.2,751,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3275,2071,0,0,0,0,0,0
$GC,12329,0.57,93.5,430.2,12.5,766,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3276,2070,0,0,0,0,0,0
$GC,12641,0.57,93.5,390.9,12.6,784,12645,0.00,2.15,0.00,0.000,4,0.000,0.030,1928,1864,2070,0,0,0,0,0,0
$GC,12660,0.57,93.5,388.6,12.7,785,12664,0.00,2.30,0.00,0.000,6,0.000,0.049,1928,3291,2069,0,0,0,0,0,0
$GC,12985,0.57,93.5,347.8,12.3,815,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3291,2069,0,0,0,0,0,0
$GC,13307,0.57,93.5,309.5,12.0,845,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3291,2069,0,0,0,0,0,0
$GC,13633,0.57,93.5,273.0,10.6,876,13637,0.00,2.15,0.00,0.000,4,0.000,0.029,1939,1863,2069,0,0,0,0,0,0
$GC,13668,0.57,93.5,269.4,9.1,879,13673,0.12,2.30,0.00,0.000,6,0.183,0.049,1909,3288,2069,0,0,0,0,0,0
$GC,13995,0.57,93.5,237.1,9.1,909,13998,0.00,1.08,0.00,0.000,4,0.000,0.057,1909,3955,2069,0,0,0,0,0,0
$GC,14074,0.57,93.5,228.2,11.5,916,14078,0.00,1.02,0.00,0.000,6,0.000,0.034,1913,3275,2069,0,0,0,0,0,0
$GC,14404,0.57,93.5,193.8,10.5,947,14408,0.00,2.12,0.00,0.000,4,0.000,0.029,1924,1861,2069,0,0,0,0,0,0
$GC,14444,0.57,93.5,189.9,8.9,950,14449,0.00,2.30,0.00,0.000,6,0.000,0.049,1924,3288,2069,0,0,0,0,0,0
$GC,14770,0.57,93.5,152.6,11.9,980,14773,0.00,1.05,0.00,0.000,4,0.000,0.057,1924,3941,2068,0,0,0,0,0,0
$GC,14838,0.57,93.5,143.9,12.2,986,14842,0.00,1.00,0.00,0.000,6,0.000,0.034,1929,3277,2068,0,0,0,0,0,0
$GC,15171,0.57,93.5,105.5,10.4,1017,15175,0.00,1.10,0.00,0.000,4,0.000,0.057,1929,3954,2068,0,0,0,0,0,0
$GC,15433,0.57,93.5,73.6,11.3,1059,15441,0.00,1.00,0.00,0.000,6,0.000,0.033,1934,3289,2068,0,0,0,0,0,0
$GC,15786,0.59,134.9,56.0,4.0,1120,15808,0.00,2.22,16.17,0.972,4,0.000,0.029,1945,1864,1921,0,0,0,0,0,0
$GC,15969,0.59,136.1,42.5,8.5,1151,15977,0.12,2.30,0.00,0.000,6,0.177,0.049,1915,3287,1917,0,0,0,0,0,0
$STATE,16323,end climb,SURFACE_DEPTH_REACHED
$STATE,16323,begin surface coast
$FINISH,0.9,1.026096
$STATE,16350,end surface coast,CONTROL_FINISHED_OK
$STATE,16351,begin surface
$SM_CCo,16364,35.22,0.763,0,0,1573,220.03
$SM_GC,1.24,0.00,0.00,35.22,0.000,0.000,0.763,60,3390,1573,-5.19,0.28,220.03
$IRIDIUM_FIX,-4244.98,821.95,020214,020206
$TT8_MAMPS,0.026215
$HUMID,63.07
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,21.8,51.453
$10V_AH,9.7,41.180
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.275,100.875,206.050,35.225,0.000,25.259,40.790,355.638,0.000,0.000,25.315,2998.389,10137.129,362.160,3177.640,297.582,0.000,1489.883,0.000,2618.373,0.000,1.010,0.000
$DEVICE_MAMPS,237.915,90.270,1855.890,762.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,841.537,2053.435,829.313,385.301,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,87098,1214
$CAP_FILE_SIZE,151946,0
$CFSIZE,259252224,231264256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020214,114004,-4300.640,831.838,30,0.9,30,-25.1